#ifndef SENSORS_H_
#define SENSORS_H_

#include "RRT.h"

#define IR_18_THREDSHOLD_OBSTACLE 550
#define IR_60_THRESHOLD_OBSTACLE 330
#define RS_THREDSHOLD_MARKER 800

/** 
 * This function reads the RS sensors and stores the sensor data into the specified array. The sensor data
 * at data[0] corresponds to the sensor at the most left and the sensor data at data[4] corresponds to the sensor at the most right.
 * \return Returns 0 at success. Otherwise -1 is returned.
 */
uint8_t get_RS_sensor_data(uint16_t* data);

void get_IR_sensor_data(uint16_t* data);

void turn_emitters_18_on();

void turn_emitters_18_off();

void turn_emitters_60_on();

void turn_emitters_60_off();

#endif /* SENSORS_H_ */